@misc{chiu2022slam,
  title={SLAM Backends with Objects in Motion: A Unifying Framework and Tutorial},
  author={Chih-Yuan Chiu},
  year={2022},
  eprint={2207.05043},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2207.05043}
}